orb_copy() just returns if data==nullptr.
Fixes lockstep for ekf2. estimator_status.time_slip now stays constant
after startup, even with high speedup factor and high system load.
The previous forwarding rules exclude another onboard MAVLink node to
send messages to a specific target.
E.g. a message from a companion computer with sysid 1 (same as
autopilot) with target sysid 190 (for the ground station) was not
forwarded.
With the new rules, anything that is not specifically addressed to the
autopilot's sysid and compid is forwarded.
This avoids premature state machine execution, most notably for missions.
In particular this fixes these issues:
- when landed, and the vehicle has a valid mission: switching to mission
would execute the first item.
- after executing a mission with a land waypoint, the mission is reset
and the first item is executed.
In case the first waypoint is a takeoff, it would print a user message:
"Takeoff to x meters above home.". If it was a vehicle command, it would
execute that.
Note that because the vehicle is disarmed, the vehicle would not actually
do anything (except for commands that are accepted while disarmed).
This will allow navigator to not output any setpoints while disarmed.
Otherwise the position controller outputs warnings in the form of:
Auto activation failed with error: Activation Failed
The risk here is that it could hide problems, where navigator sends invalid
triplets when it should not.
- uORB::SubscriptionBlocking is a specialized uORB::Subscription that allows you to do a blocking read
- this is intended to be an easy to use, hard to misuse replacement for the typical orb fd + poll pattern we've relied on historically
- landed, maybe_landed, or ground_contact required before the safety
button is able to disarm
- this reduces the risk of a faulty safety button triggering in regular
flight
Julian Oes
Beat Küng
mohammad
Jacob Dahl
kritz
Daniel Agar
RomanBapst
SalimTerryLi
Claudio Micheli
Martina Rivizzigno
Tal Zaitsev